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Assignment 3 PDF

This document contains a 10 question multiple choice quiz on robotics concepts. The questions cover topics such as representing 3D object rotation, rotation matrices, representing position and orientation with transforms, Denavit-Hartenberg parameters, forward and inverse kinematics, and representing position and orientation in different coordinate systems. The document provides the question, possible multiple choice answers, and the correct answer for each question.

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Ronald Joseph
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120 views

Assignment 3 PDF

This document contains a 10 question multiple choice quiz on robotics concepts. The questions cover topics such as representing 3D object rotation, rotation matrices, representing position and orientation with transforms, Denavit-Hartenberg parameters, forward and inverse kinematics, and representing position and orientation in different coordinate systems. The document provides the question, possible multiple choice answers, and the correct answer for each question.

Uploaded by

Ronald Joseph
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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NPTEL Online Certification Courses

Indian Institute of Technology Kharagpur

ROBOTICS
Assignment- 3
TYPE OF QUESTION: MCQ
Number of questions: 10 Total mark: 10 × 2 = 20
______________________________________________________________________________

QUESTION 1:
Rotation of a 3-D object can be represented in 3-D space using

a. a single vector
b. a set of two vectors
c. a set of three vectors
d. a set of four vectors

Correct Answer:c

Detailed Solution:
______________________________________________________________________________

QUESTION 2:
Rotation matrix ROT (𝑌𝑌�, 𝜃𝜃) is represented as

𝐶𝐶𝐶𝐶𝐶𝐶 𝜃𝜃 −𝑆𝑆𝑆𝑆𝑆𝑆 𝜃𝜃 0
a. � 𝑆𝑆𝑆𝑆𝑆𝑆 𝜃𝜃 𝐶𝐶𝐶𝐶𝐶𝐶 𝜃𝜃 0�
0 0 1
1 0 0
b. �0 1 0�
0 0 1
𝐶𝐶𝐶𝐶𝐶𝐶 𝜃𝜃 0 𝑆𝑆𝑆𝑆𝑆𝑆 𝜃𝜃
c. � 0 1 0 �
−𝑆𝑆𝑆𝑆𝑆𝑆 𝜃𝜃 0 𝐶𝐶𝐶𝐶𝐶𝐶 𝜃𝜃
1 0 0
d. �0 𝐶𝐶𝐶𝐶𝐶𝐶 𝜃𝜃 −𝑆𝑆𝑆𝑆𝑆𝑆 𝜃𝜃 �
0 𝑆𝑆𝑆𝑆𝑆𝑆 𝜃𝜃 𝐶𝐶𝐶𝐶𝐶𝐶 𝜃𝜃
Correct Answer:c

Detailed Solution:

______________________________________________________________________________
NPTEL Online Certification Courses
Indian Institute of Technology Kharagpur

QUESTION 3:
To represent both the position and orientation of a 3-D object in 3D space, we use a

a. 3 × 3 matrix
b. 4 × 4 matrix
c. 5 × 5 matrix
d. 6 × 6 matrix

Correct Answer:b

Detailed Solution:

_____________________________________________________________________________

QUESTION 4:
According to Denavit-Hartenberg’s notations, Joint Angle will have

a. zero value only


b. positive value only
c. negative value only
d. either positive or negative or zero value

Correct Answer:d

Detailed Solution:

______________________________________________________________________________

QUESTION 5:
Inverse Kinematics of a manipulator aims to determine

a. position and orientation of the end- effector with respect to its base coordinate
system
b. joint angles for the known position and orientation of the end-effector with
respect to its base coordinate system
c. joint forces/torques of the manipulator
d. a collision-free path for it

Correct Answer:b
NPTEL Online Certification Courses
Indian Institute of Technology Kharagpur

Detailed Solution:

____________________________________________________________________________

QUESTION 6:
Forward Kinematics of a manipulator aims to determine

a. position and orientation of the end- effector with respect to its base coordinate
system
b. joint angles for the known position and orientation of the end-effector with
respect to its base coordinate system
c. joint forces/torques of the manipulator
d. a collision-free path for it

Correct Answer:a

Detailed Solution:

_____________________________________________________________________________

QUESTION 7:
According to Denavit-Hartenberg’s notations, link off-set can have

a. zero value only


b. positive value only
c. negative value only
d. either positive or negative or zero value

Correct Answer:d

Detailed Solution:

______________________________________________________________________________

QUESTION 8:
The position of end-effector of a robot with respectto its base coordinate system can be represented in

a. Roll, Pitch and Yaw angles


b. Euler angles
c. the form of three vectors in cartesian coordinate system
d. Cylindrical coordinate system

Correct Answer:d
NPTEL Online Certification Courses
Indian Institute of Technology Kharagpur

Detailed Solution:
______________________________________________________________________________

QUESTION 9:
The orientation of end-effector of a robot with respect to its base coordinate system can be represented
in

a. Spherical coordinate system


b. Cylindrical coordinate system
c. the form of one vector in cartesian coordinate system
d. Roll, Pitch and Yaw angles

Correct Answer:d

Detailed Solution:

____________________________________________________________________________

QUESTION 10:
To represent position in cylindrical coordinate system, the following steps are to be considered in a
sequence of

a. ROT, ROT, ROT


b. TRANS, TRANS, TRANS
c. ROT, TRANS, TRANS
d. TRANS, ROT, TRANS

Correct Answer:d

Detailed Solution:

______________________________________________________________________________

************END*******

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